The center wheel is dropped 3/16". It’s such a big drop because I anticipated the robot would be heavy and sink into the foam floor quite a bit, turning a 6WD drop center into a planar 6WD.
At the time of the photo, there were no sensors mounted to the robot aside from the encoders on the drive and lift.
Since our last competition, we’ve been testing and implementing closed loop driving, turning, and IR sensing capabilities.
As of today, we have distance driving software precise to less than 1/4" and turning software accurate down to ±1 degree. I plan to try to incorporate them into teleop to aid in holding position(think PID Brake!) while scoring or driving.
We’re also trying to implement some anti-death sensors(top and bottom limit switches) for the lift to help more accurately and safely close the positioning loop. These will be interfaced to the NXT via the HiTechnic Prototyping board.
The HTPB protoboard will have an LED driver to control that LED strip to signal drivers of various robot events.